/Engine/Plugins/Experimental/FullBodyIK/Source/FullBodyIK/Public/JacobianSolver.h
This support positional/rotational target using custom frame provided by user. If you want to create custom frame for stiffness.
class FJacobianSolver_PositionRotationTarget_LocalFrame : public [FJacobianSolverBase](API\Plugins\FullBodyIK\FJacobianSolverBase)